Search

Contact binaries are found throughout the solar system. The recent discovery of Selam, the satellite of MBA (152830) Dinkinesh, by the NASA LUCY mission has made it clear that the term `contact binary' covers a variety of different types of bi-modal mass distributions and formation mechanisms. Only by modelling more contact binaries can this population be properly understood. We determined a spin state and shape model for the Apollo group contact binary asteroid (388188) 2006 DP14 using ground-based optical and radar observations collected between 2014 and 2023. Radar delay-Doppler images and continuous wave spectra were collected over two days in February 2014, while 16 lightcurves in the Cousins R and SDSS-r filters were collected in 2014, 2022 and 2023. We modelled the spin state using convex inversion before using the SHAPE modelling software to include the radar observations in modelling concavities and the distinctive neck structure connecting the two lobes. We find a spin state with a period of $(5.7860\pm0.0001)$ hours and pole solution of $\lambda = (180\pm121)^\circ$ and $\beta = (-80\pm7)^\circ$ with morphology indicating a 520 m long bi-lobed shape. The model's asymmetrical bi-modal mass distribution resembles other small NEA contact binaries such as (85990) 1999 JV6 or (8567) 1996 HW1, which also feature a smaller `head' attached to a larger `body'. The final model features a crater on the larger lobe, similar to several other modelled contact binaries. The model's resolution is 25 m, comparable to that of the radar images used., Comment: 19 pages. 13 figures. This is a pre-copyedited, author-produced PDF of an article accepted for publication in MNRAS following peer review

This paper describes the Inria team's integrated robotics system used in the 1st euROBIN coopetition, during which service robots performed voice-activated household tasks in a kitchen setting.The team developed a modified Tiago++ platform that leverages a whole-body control stack for autonomous and teleoperated modes, and an LLM-based pipeline for instruction understanding and task planning. The key contributions (opens-sourced) are the integration of these components and the design of custom teleoperation devices, addressing practical challenges in the deployment of service robots.

Warm Saturn type exoplanets orbiting M-dwarfs are particularly suitable for in-depth cloud characterisation through transmission spectroscopy due to their favourable stellar to planetary radius contrast. However, modelling cloud formation consistently within the 3D atmosphere remains computationally challenging. The aim is to explore the combined atmospheric and micro-physical cloud structure, and the kinetic gas-phase chemistry for the warm Saturn HATS0-6b orbiting an M-dwarf. A combined 3D cloudy atmosphere model is constructed by iteratively executing the 3D General Circulation Model (GCM) expeRT/MITgcm and a kinetic cloud formation model, each in its full complexity. Resulting cloud particle number densities, sizes, and compositions are used to derive the local cloud opacity which is then utilised in the next GCM iteration. The disequilibrium H/C/O/N gas-phase chemistry is calculated for each iteration to assess the resulting transmission spectrum in post-processing. The cloud opacity feedback causes a temperature inversion at the sub-stellar point and at the evening terminator at gas pressures higher than 0.01 bar. Furthermore, clouds cool the atmosphere between 0.01 bar and 10 bar, and narrow the equatorial wind jet. The transmission spectrum shows muted gas-phase absorption and a cloud particle silicate feature at approximately 10 micron. The combined atmosphere-cloud model retains the full physical complexity of each component and therefore enables a detailed physical interpretation with JWST NIRSpec and MIRI LRS observational accuracy. The model shows that warm Saturn type exoplanets around M-dwarfs are ideal candidates to search for limb asymmetries in clouds and chemistry, identify cloud particle composition by observing their spectral features, and identify the cloud-induced strong thermal inversion that arises on these planets specifically., Comment: 21 pages, 15 figures, Accepted by A&A

In this paper, we explore the feasibility of developing a novel flexible pedicle screw (FPS) for enhanced spinal fixation of osteoporotic vertebrae. Vital for spinal fracture treatment, pedicle screws have been around since the early 20th century and have undergone multiple iterations to enhance internal spinal fixation. However, spinal fixation treatments tend to be problematic for osteoporotic patients due to multiple inopportune variables. The inherent rigid nature of the pedicle screw, along with the forced linear trajectory of the screw path, frequently leads to the placement of these screws in highly osteoporotic regions of the bone. This results in eventual screw slippage and causing neurological and respiratory problems for the patient. To address this problem, we focus on developing a novel FPS that is structurally capable of safely bending to fit curved trajectories drilled by a steerable drilling robot and bypass highly osteoporotic regions of the vertebral body. Afterwards, we simulate its morphability capabilities using finite element analysis (FEA). We then additively manufacture the FPS using stainless steel (SS) 316L alloy through direct metal laser sintering (DMLS). Finally, the fabricated FPS is experimentally evaluated for its bending performance and compared with the FEA results for verification. Results demonstrate the feasibility of additive manufacturing of FPS using DMLS approach and agreement of the developed FEA with the experiments.

Computation of a grid of self consistent 1D model atmospheres of cool stars, sub-stellar objects and exoplanets in the effective temperature range 300K to 3000K, including cloud formation, chemical non-equilibrium effects, and stellar irradiation. The models are called MSG, because they are based on an iterative coupling between three well tested codes, the MARCS stellar atmosphere code, the StaticWeather cloud formation code and the GGchem chemical equilibrium code. It includes up-to-date molecular and atomic opacities, cloud formation and advanced chemical equilibrium calculations, and involves new numerical methods at low temperatures to allow robust convergence. The coupling between the MARCS radiative transfer and GGchem chemical equilibrium computations has made it possibly effectively to reach convergence based on electron pressure for the warmer models and gas pressure for the cooler models, enabling self-consistent modelling of stellar, sub-stellar and exoplanetary objects in a very wide range of effective temperatures. Here we describe the basic details of the models, with illustrative examples of cloudy and irradiated models as well as models based on non-equilibrium chemistry. The qualitative changes in the relative abundances of TiO, H2O, CH4, NH3, and other molecules in our models follow the observationally defined M, L, T (and Y) sequences, but reveal more complex and depth dependent abundance changes, and therefore a spectral classification depending on more parameters. The self consistent coupling to Static-Weather cloud computations, allows detailed comparison between nucleation and observed relative dimming of different spectral bands, with advanced applications for new identification methods of potential exoplanetary biology.

Towards performing a realistic autonomous minimally invasive spinal fixation procedure, in this paper, we introduce a unique robotic drilling system utilizing a concentric tube steerable drilling robot (CT-SDR) integrated with a seven degree-of-freedom robotic manipulator. The CT-SDR in integration with the robotic arm enables creating precise J-shape trajectories enabling access to the areas within the vertebral body that currently are not accessible utilizing existing rigid instruments. To ensure safety and accuracy of the autonomous drilling procedure, we also performed required calibration procedures. The performance of the proposed robotic system and the calibration steps were thoroughly evaluated by performing various drilling experiments on simulated Sawbone samples., Comment: 6 pages, 3 figures, Accepted for publication at the 2024 International Symposium on Medical Robotics

In this paper, with the goal of enhancing the minimally invasive spinal fixation procedure in osteoporotic patients, we propose a first-of-its-kind image-guided robotic framework for performing an autonomous and patient-specific procedure using a unique concentric tube steerable drilling robot (CT-SDR). Particularly, leveraging a CT-SDR, we introduce the concept of J-shape drilling based on a pre-operative trajectory planned in CT scan of a patient followed by appropriate calibration, registration, and navigation steps to safely execute this trajectory in real-time using our unique robotic setup. To thoroughly evaluate the performance of our framework, we performed several experiments on two different vertebral phantoms designed based on CT scan of real patients., Comment: 10 pages, 3 figures. This paper has been accepted for publication at the 2024 International Conference on Medical Image Computing and Computer Assisted Interventions

Vital for spinal fracture treatment, pedicle screw fixation is the gold standard for spinal fixation procedures. Nevertheless, due to the screw pullout and loosening issues, this surgery often fails to be effective for patients suffering from osteoporosis (i.e., having low bone mineral density). These failures can be attributed to the rigidity of existing drilling instruments and pedicle screws forcing clinicians to place these implants into the osteoporotic regions of the vertebral body. To address this critical issue, we have developed a steerable drilling robotic system and evaluated its performance in drilling various J- and U-shape trajectories. Complementary to this robotic system, in this paper, we propose design, additive manufacturing, and biomechanical evaluation of a transformative flexible pedicle screw (FPS) that can be placed in pre-drilled straight and curved trajectories. To evaluate the performance of the proposed flexible implant, we designed and fabricated two different types of FPSs using the direct metal laser sintering (DMLS) process. Utilizing our unique experimental setup and ASTM standards, we then performed various pullout experiments on these FPSs to evaluate and analyze their biomechanical performance implanted in straight trajectories., Comment: 6 pages, 7 figures, Accepted for publication at the 2024 International Symposium on Medical Robotics

Spinal fixation procedures are currently limited by the rigidity of the existing instruments and pedicle screws leading to fixation failures and rigid pedicle screw pull out. Leveraging our recently developed Concentric Tube Steerable Drilling Robot (CT-SDR) in integration with a robotic manipulator, to address the aforementioned issue, here we introduce the transformative concept of Spatial Spinal Fixation (SSF) using a unique Flexible Pedicle Screw (FPS). The proposed SSF procedure enables planar and out-of-plane placement of the FPS throughout the full volume of the vertebral body. In other words, not only does our fixation system provide the option of drilling in-plane and out-of-plane trajectories, it also enables implanting the FPS inside linear (represented by an I-shape) and/or non-linear (represented by J-shape) trajectories. To thoroughly evaluate the functionality of our proposed robotic system and the SSF procedure, we have performed various experiments by drilling different I-J and J-J drilling trajectory pairs into our custom-designed L3 vertebral phantoms and analyzed the accuracy of the procedure using various metrics., Comment: 6 pages, 4 figures. This paper has been accepted for publication at the 2024 International Conference on Intelligent Robots and Systems

Human-robot interaction (HRI) has become a crucial enabler in houses and industries for facilitating operational flexibility. When it comes to mobile collaborative robots, this flexibility can be further increased due to the autonomous mobility and navigation capacity of the robotic agents, expanding their workspace and consequently, the personalizable assistance they can provide to the human operators. This however requires that the robot is capable of detecting and identifying the human counterpart in all stages of the collaborative task, and in particular while following a human in crowded workplaces. To respond to this need, we developed a unified perception and navigation framework, which enables the robot to identify and follow a target person using a combination of visual Re-Identification (Re-ID), hand gestures detection, and collision-free navigation. The Re-ID module can autonomously learn the features of a target person and use the acquired knowledge to visually re-identify the target. The navigation stack is used to follow the target avoiding obstacles and other individuals in the environment. Experiments are conducted with few subjects in a laboratory setting where some unknown dynamic obstacles are introduced., Comment: published in "2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)"

The NASA's Double-Asteroid Redirection Test (DART) was a unique planetary defence and technology test mission, the first of its kind. The main spacecraft of the DART mission impacted the target asteroid Dimorphos, a small moon orbiting asteroid (65803) Didymos, on 2022 September 26. The impact brought up a mass of ejecta which, together with the direct momentum transfer from the collision, caused an orbital period change of 33 +/- 1 minutes, as measured by ground-based observations. We report here the outcome of the optical monitoring campaign of the Didymos system from the Danish 1.54 m telescope at La Silla around the time of impact. The observations contributed to the determination of the changes in the orbital parameters of the Didymos-Dimorphos system, as reported by arXiv:2303.02077, but in this paper we focus on the ejecta produced by the DART impact. We present photometric measurements from which we remove the contribution from the Didymos-Dimorphos system using a H-G photometric model. Using two photometric apertures we determine the fading rate of the ejecta to be 0.115 +/- 0.003 mag/d (in a 2" aperture) and 0.086 +/- 0.003 mag/d (5") over the first week post-impact. After about 8 days post-impact we note the fading slows down to 0.057 +/- 0.003 mag/d (2" aperture) and 0.068 +/- 0.002 mag/d (5"). We include deep-stacked images of the system to illustrate the ejecta evolution during the first 18 days, noting the emergence of dust tails formed from ejecta pushed in the anti-solar direction, and measuring the extent of the particles ejected sunward to be at least 4000 km., Comment: 20 pages, 6 figures. Accepted for publication in The Planetary Science Journal

In this paper, we present the design, fabrication, and evaluation of a novel flexible, yet structurally strong, Concentric Tube Steerable Drilling Robot (CT-SDR) to improve minimally invasive treatment of spinal tumors. Inspired by concentric tube robots, the proposed two degree-of-freedom (DoF) CT-SDR, for the first time, not only allows a surgeon to intuitively and quickly drill smooth planar and out-of-plane J- and U- shape curved trajectories, but it also, enables drilling cavities through a hard tissue in a minimally invasive fashion. We successfully evaluated the performance and efficacy of the proposed CT-SDR in drilling various planar and out-of-plane J-shape branch, U-shape, and cavity drilling scenarios on simulated bone materials., Comment: 7 pages, 8 figures, Accepted for Publication at the 2023 International Conference on Robotics and Automation

Towards reducing the failure rate of spinal fixation surgical procedures in osteoporotic patients, we propose a unique biomechanically-aware framework for the design of a novel concentric tube steerable drilling robot (CT-SDR). The proposed framework leverages a patient-specific finite element (FE) biomechanics model developed based on Quantitative Computed Tomography (QCT) scans of the patient's vertebra to calculate a biomechanically-optimal and feasible drilling and implantation trajectory. The FE output is then used as a design requirement for the design and evaluation of the CT-SDR. Providing a balance between the necessary flexibility to create curved optimal trajectories obtained by the FE module with the required strength to not buckle during drilling through a hard simulated bone material, we showed that the CT-SDR can reliably recreate this drilling trajectory with errors between 1.7-2.2%, Comment: 6 pages, 7 figures, Accepted for Publication at the 2023 International Symposium on Medical Robotics

Particle transport simulations are a cornerstone of high-energy physics (HEP), constituting a substantial part of the computing workload performed in HEP. To boost the simulation throughput and energy efficiency, GPUs as accelerators have been explored in recent years, further driven by the increasing use of GPUs on HPCs. The Accelerated demonstrator of electromagnetic Particle Transport (AdePT) is an advanced prototype for offloading the simulation of electromagnetic showers in Geant4 to GPUs, and still undergoes continuous development and optimization. Improving memory layout and data access is vital to use modern, massively parallel GPU hardware efficiently, contributing to the challenge of migrating traditional CPU based data structures to GPUs in AdePT. The low-level abstraction of memory access (LLAMA) is a C++ library that provides a zero-runtime-overhead data structure abstraction layer, focusing on multidimensional arrays of nested, structured data. It provides a framework for defining and switching custom memory mappings at compile time to define data layouts and instrument data access, making LLAMA an ideal tool to tackle the memory-related optimization challenges in AdePT. Our contribution shares insights gained with LLAMA when instrumenting data access inside AdePT, complementing traditional GPU profiler outputs. We demonstrate traces of read/write counts to data structure elements as well as memory heatmaps. The acquired knowledge allowed for subsequent data layout optimizations.

We propose a Model-Based Reinforcement Learning (MBRL) algorithm named VF-MC-PILCO, specifically designed for application to mechanical systems where velocities cannot be directly measured. This circumstance, if not adequately considered, can compromise the success of MBRL approaches. To cope with this problem, we define a velocity-free state formulation which consists of the collection of past positions and inputs. Then, VF-MC-PILCO uses Gaussian Process Regression to model the dynamics of the velocity-free state and optimizes the control policy through a particle-based policy gradient approach. We compare VF-MC-PILCO with our previous MBRL algorithm, MC-PILCO4PMS, which handles the lack of direct velocity measurements by modeling the presence of velocity estimators. Results on both simulated (cart-pole and UR5 robot) and real mechanical systems (Furuta pendulum and a ball-and-plate rig) show that the two algorithms achieve similar results. Conveniently, VF-MC-PILCO does not require the design and implementation of state estimators, which can be a challenging and time-consuming activity to be performed by an expert user., Comment: Accepted at the 2023 American Control Conference (ACC)

Today, one of the biggest challenges for digital transformation in the Industry 4.0 paradigm is the lack of mutual understanding between the academic and the industrial world. On the one hand, the industry fails to apply new technologies and innovations from scientific research. At the same time, academics struggle to find and focus on real-world applications for their developing technological solutions. Moreover, the increasing complexity of industrial challenges and technologies is widening this hiatus. To reduce this knowledge and communication gap, this article proposes a mixed approach of humanistic and engineering techniques applied to the technological and enterprise fields. The study's results are represented by a taxonomy in which industrial challenges and I4.0-focused technologies are categorized and connected through academic and grey literature analysis. This taxonomy also formed the basis for creating a public web platform where industrial practitioners can identify candidate solutions for an industrial challenge. At the same time, from the educational perspective, the learning procedure can be supported since, through this tool, academics can identify real-world scenarios to integrate digital technologies' teaching process., Comment: 15 pages, 6 figures

Making general particle transport simulation for high-energy physics (HEP) single-instruction-multiple-thread (SIMT) friendly, to take advantage of accelerator hardware, is an important alternative for boosting the throughput of simulation applications. To date, this challenge is not yet resolved, due to difficulties in mapping the complexity of Geant4 components and workflow to the massive parallelism features exposed by graphics processing units (GPU). The AdePT project is one of the R\&D initiatives tackling this limitation and exploring GPUs as potential accelerators for offloading some part of the CPU simulation workload. Our main target is to implement a complete electromagnetic shower demonstrator working on the GPU. The project is the first to create a full prototype of a realistic electron, positron, and gamma electromagnetic shower simulation on GPU, implemented as either a standalone application or as an extension of the standard Geant4 CPU workflow. Our prototype currently provides a platform to explore many optimisations and different approaches. We present the most recent results and initial conclusions of our work, using both a standalone GPU performance analysis and a first implementation of a hybrid workflow based on Geant4 on the CPU and AdePT on the GPU., Comment: 8 pages, 4 figures, 20th International Workshop on Advanced Computing and Analysis Techniques in Physics Research (ACAT 2021), to be published in Journal of Physics: Conference Series, editor Andrei Gheata